Michael du Breuil
649ef0fc16
Plane: Only consider a takeoff as begun if the safety switch has been pressed
2017-03-23 16:55:47 -07:00
Andrew Tridgell
af97a3974b
Plane: initialise target height correctly on quadplane transition
...
this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
2017-03-22 21:34:40 +11:00
Andrew Tridgell
bb158a437e
Plane: handle bad Q_FRAME_CLASS
...
default to quad with a warning. This prevents users getting stuck
without being able to set Q_ENABLE=1
thanks to Leonard for noticing
2017-03-18 22:10:20 +11:00
Andrew Tridgell
e3a8d477f5
Plane: improve tiltrotor transition strategy
...
avoid running forward motors at high throttle when transitioning to a
VTOL mode
2017-03-14 14:42:20 +11:00
Andrew Tridgell
3f7e7d456f
Plane: in fixed wing mode slave quadplane attitude rate controller
...
For quadplanes this uses the attitude controller from fixed wing
when using the multicopter controller to assist fixed wing
flight. This prevents a rate mismatch between the two controller
leading to oscillation
2017-03-14 14:42:20 +11:00
Andrew Tridgell
2db8589f49
Plane: smarter Z controller initialisation for quadplanes
...
this is more generic than the previous one used only for the full
position controller
2017-03-14 14:42:20 +11:00
Andrew Tridgell
dd4f56dd98
Plane: added PIQ messages for quadplane PIDs
...
keep them separate from fixed wing PIDs, so we can watch the
interaction between the PIDs in transitions
2017-03-14 14:42:20 +11:00
Andrew Tridgell
0e175179a6
Plane: log home and origin on logging start
2017-03-14 10:51:15 +11:00
Andrey Kolobov
35d406aeab
Plane: added a soaring controller to Arduplane
2017-03-14 08:53:10 +11:00
Michael du Breuil
9e893eacd1
Plane: Change some user facing statustexts
2017-03-08 00:59:56 -08:00
Michael du Breuil
041fe38ba6
Plane: Update build tools for deepstall PID dependency
2017-03-02 12:38:59 +11:00
Michael du Breuil
cf10b7b841
Plane: Add support for landing PID's and servo control
2017-03-02 12:38:59 +11:00
Michael du Breuil
1bb806edb2
Plane: Use new landing interfaces
2017-03-02 12:38:59 +11:00
Andrew Tridgell
abcc75009d
Plane: move relay init earlier
...
allows relay pins to be used as pullups for other sensors (such as
LidarLiteV3)
2017-03-01 22:44:37 +11:00
Randy Mackay
eb746eaeef
Plane: fix SYSID_ENFORCE parameter description
2017-02-28 15:08:17 +09:00
Michael du Breuil
fbf6050876
Plane: Reset home to AHRS position rather then snapshotting GPS
2017-02-28 11:33:53 +11:00
Randy Mackay
c0f155fd27
Plane: use only downward facing rangefinder
2017-02-27 15:18:25 +09:00
Andrew Tridgell
4ff5bf5af5
Plane: zero integrators and set throttle mix
...
this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
2017-02-26 09:20:51 +11:00
Andrew Tridgell
c061d5615b
Plane: added manual input mask for tailsitter prop-hang
...
This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.
It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
2017-02-26 09:20:13 +11:00
Andrew Tridgell
3bb25eb194
Plane: added Q_TAILSIT_INPUT
...
this allows the user to control tailsitters either in body frame (like
a plane) or in earth frame (like a multicopter). This is useful for
people wanting to learn to fly prop-hang on 3D planes
2017-02-26 09:20:13 +11:00
Andrew Tridgell
ea5186340b
Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters
...
allow control of tilt rate separately for UP and DOWN
always allow at least 90 degrees/second for switching to MANUAL
2017-02-25 17:53:26 +11:00
Tom Pittenger
4ccd59f394
Plane: allow exiting loiter_to_alt in cases where you get stuck
...
- check for scenarios where updrafts can keep you from loitering down indefinitely.
2017-02-23 05:15:49 -08:00
Andrew Tridgell
a4c5247fba
Plane: prepare 3.8.0-beta3
...
key fix is the servo slew rate bug
2017-02-22 07:25:47 +11:00
Tom Pittenger
69a10042eb
Plane: always stream RPM data over mavlink when enabled
2017-02-21 11:16:27 -08:00
Tom Pittenger
67486dc3f0
Plane: always log RPM when enabled
2017-02-21 04:20:01 -08:00
Peter Barker
97145f20fc
Plane: fix startup of CLI menu system
2017-02-20 00:06:23 -08:00
Andrew Tridgell
07ab04897d
Plane: reset roll/pitch integrators while tailsitter active
...
this prevents integrator buildup while flying in hover
2017-02-18 22:23:58 +11:00
Andrew Tridgell
b3380ecfa7
Plane: support twin-engine planes
...
with differential thrust for yaw
2017-02-18 17:26:43 +11:00
Andrew Tridgell
e8b11924f8
Plane: split out the tailsitter transition complete code
...
use both roll and pitch to trigger completion of transition. This
copes with situations where the plane has managed to get itself rolled
over far enough that it can't recover into hover
2017-02-18 17:26:43 +11:00
Andrew Tridgell
d5a3f844f1
Plane: changes for AC_WPNav
2017-02-18 17:26:43 +11:00
Andrew Tridgell
c787f4c56f
Plane: initial support for tailsitter transitions
2017-02-18 17:26:43 +11:00
Andrew Tridgell
83f3cee99e
Plane: initial hooks for tailsitter support
2017-02-18 17:26:43 +11:00
Andrew Tridgell
4e4f5a7ac9
Plane: allow tailsitters to takeoff with any attitude
2017-02-18 17:26:43 +11:00
Andrew Tridgell
0fc04b0158
Plane: setup plane frame type parameter flags
2017-02-14 19:50:01 +11:00
Andrew Tridgell
c294519925
Plane: lower default Q_M_SPOOL_TIME to 0.25
2017-02-14 09:23:17 +09:00
Peter Barker
1d7994e9ba
Plane: create GCS_Plane subclass
2017-02-13 17:03:06 +11:00
Peter Barker
98c4b48161
Plane: not in log download upon log erase
...
erase is a synchronous operation
2017-02-13 11:36:16 +11:00
Peter Barker
49bf336539
Plane: Support for a GCS singleton
2017-02-13 09:32:01 +11:00
Peter Barker
d060670ba3
Plane: rename gcs[] to gcs_chan[]
...
Wish to use gcs() to return the gcs singleton
2017-02-13 09:32:01 +11:00
Michael du Breuil
29b16dbafd
Plane: Refactor to request relative altitudes from AHRS
...
Removes the need for plane to do the math for finding the relative height.
Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
2017-02-13 09:23:14 +11:00
Michael du Breuil
f183a2618f
Plane: Don't lock home altitude to AHRS origin
2017-02-13 09:23:14 +11:00
Michael du Breuil
7a1cbf76d3
Plane: Remove ALT_MIX
...
Closes #4998 , and fix a tab/spaces error on the previous parameter
2017-02-13 09:18:52 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
c4419739c4
Plane: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is
2017-02-07 11:41:12 +11:00
Andrew Tridgell
90d9e74054
Plane: fixed parameter path
2017-02-06 15:12:32 +11:00
Andrew Tridgell
287614b415
Plane: fixed auto-takeoff throttle trigger for inverted launch
...
quite an unusual setup, but has been done :-)
2017-02-01 16:31:49 -08:00
Tom Pittenger
9abb0bba7f
Plane: use abs() instead of labs() for int16
2017-01-30 10:43:54 -08:00
Michael du Breuil
2326eee9a0
Plane: Move loiter_radius to vehicle
2017-01-30 10:43:54 -08:00
Andrew Tridgell
5baf37f7a3
Plane: release 3.8.0beta2
2017-01-30 10:29:01 +11:00
priseborough
013eb254a2
Plane: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
murata
2492b9db7e
Plane: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00